Actuator joint valve control method and device, electronic equipment and storage medium

Abstract

The disclosure provides a kind of execution mechanism's joint debugging valve control method and device, electronic equipment and storage medium, it is related to control technical field, by first completing initialization configuration and threshold setting, synchronous acquisition valve position and hydraulic pressure data and output, again, mode selection, deviation operation is combined threshold to generate adjustment instruction, according to mode unlocking authority drive electro-hydraulic actuator executes valve position adjustment and outputs execution state, finally, fusion analysis execution state and full-quantity operation data determine system state, for exception generation and execution control instruction and output operation record data, therefore, it can solve the problems in the prior art due to lack of multi-mode hierarchical authority control, insufficient monitoring dimension of operating state, single abnormality determination method, poor valve position regulation accuracy and system operation stability, achieve real-time accurate control of valve key parameters, improve control response speed and operation stability, realize intelligent diagnosis and fault warning, prolong service life.

Description

Technical Field

[0001] This disclosure relates to the field of control technology, and in particular to a method and apparatus for controlling a control valve of an actuator, an electronic device, and a storage medium. Background Technology

[0002] Electro-hydraulic actuators, as the core drive unit of industrial fluid control systems, are widely used in key fields such as power, petrochemicals, and metallurgy. With the development of intelligent manufacturing technology, related technologies have constructed closed-loop control systems through the coordinated operation of electrical signal processing, hydraulic power transmission, and mechanical valve position adjustment. Specifically, this system covers the entire process from data acquisition and deviation calculation to command execution, including key aspects such as multi-mode switching, high-precision sensing, and integrated hydraulic control, aiming to achieve precise matching of valve opening and pressure.

[0003] However, existing control methods directly use fixed threshold comparison logic without establishing a multi-mode hierarchical permission unlocking mechanism and a trend analysis model of the full operating status. This may lead to operational permission conflicts or delayed judgment of abnormal states under complex operating conditions, or the lack of adaptive control strategies for valve position deviation, hydraulic pressure fluctuations and actuator jamming may affect the response speed, adjustment accuracy and overall stability of the system. Summary of the Invention

[0004] This disclosure provides a method and apparatus for controlling a control valve of an actuator, electronic equipment, and a storage medium. Its main objective is to at least partially solve one of the technical problems in the related art.

[0005] According to a first aspect of this disclosure, a method for controlling a regulating valve of an actuator is provided, comprising:

[0006] Initialize system configuration and set operating threshold parameters, synchronously collect current position data of the controlled valve and pressure data of the hydraulic system, and output current position data, pressure data and operating threshold parameters; Receive current position data, pressure data, and operating threshold parameters; select the valve's operation control mode; perform deviation calculation based on the current position data and preset reference value; and generate valve adjustment commands in conjunction with the operating threshold parameters. In response to the mode selection signal, the operation permission corresponding to the operation control mode is unlocked, and the electro-hydraulic actuator is driven to perform valve position adjustment action according to the valve adjustment command, and the valve adjustment execution status data is output. It receives valve regulation execution status data and collects full system operation status data in real time. It integrates and analyzes the valve regulation execution status data and the full system operation status data to determine the system operation status. For the identified abnormal operation status, it generates and executes control commands and outputs system operation status record data.

[0007] According to a second aspect of this disclosure, a control device for an actuator's control valve is provided, comprising: The data acquisition unit is used to initialize the system configuration and set the operating threshold parameters, synchronously acquire the current position data of the controlled valve and the pressure data of the hydraulic system, and output the current position data, pressure data and operating threshold parameters. The generation unit is used to receive current position data, pressure data and operating threshold parameters, select the valve operation control mode, perform deviation calculation based on the current position data and preset reference value, and generate valve adjustment commands in combination with operating threshold parameters; The execution unit is used to unlock the operation permission corresponding to the operation control mode in response to the mode selection signal, drive the electro-hydraulic actuator to perform valve position adjustment action according to the valve adjustment command, and output valve adjustment execution status data. The analysis unit is used to receive valve regulation execution status data and collect the full system operation status data in real time. It integrates and analyzes the valve regulation execution status data and the full system operation status data to determine the system operation status. For the identified abnormal operation status, it generates and executes control commands and outputs the system operation status record data.

[0008] According to a third aspect of this disclosure, an electronic device is provided, comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method described in the first aspect above.

[0009] According to a fourth aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are configured to cause the computer to perform the method described in the first aspect above.

[0010] According to a fifth aspect of this disclosure, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the method described in the first aspect above.

[0011] The actuator control method, device, electronic equipment, and storage medium disclosed herein first complete initialization configuration and threshold setting, synchronously collect and output valve position and hydraulic pressure data, then generate adjustment commands through mode selection, deviation calculation, and threshold combination, drive the electro-hydraulic actuator to perform valve position adjustment according to mode unlocking permissions and output the execution status, and finally integrate and analyze the execution status and full operation data to determine the system status, generate and execute control commands for anomalies and output operation record data. Therefore, it can solve the problems of lack of multi-mode hierarchical permission control, insufficient dimensions of operation status monitoring, single anomaly judgment method, poor valve position adjustment accuracy and system operation stability in the prior art, and achieve the technical effects of real-time and accurate control of key valve parameters, improved control response speed and operation stability, intelligent diagnosis and fault early warning, reduced equipment energy consumption and wear, and extended service life.

[0012] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0013] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein: Figure 1 A schematic flowchart illustrating a method for controlling a control valve of an actuator, provided in an embodiment of this disclosure; Figure 2 A schematic diagram of the structure of an actuator control valve for an embodiment of this disclosure; Figure 3 A schematic block diagram of an example electronic device provided for embodiments of this disclosure. Detailed Implementation

[0014] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0015] The embodiments disclosed herein, at every technical stage of the data lifecycle, including but not limited to data collection, transmission, storage, computation, use, disclosure, and destruction, are fundamentally based on strict adherence to and embedding of current laws, regulations, and regulatory requirements in their system architecture, protocols, and process controls. At the design level, the solution ensures, through systematic rules and strategies, that all processing activities automatically adhere to the principles of legality, legitimacy, necessity, and good faith, and technically implements core rules such as clear purpose, minimum necessity, transparency, and security.

[0016] For any data collection, processing, or other activities involved in the embodiments of this disclosure, corresponding verification, tracking, and constraint mechanisms are implemented at the system level to ensure that their execution has a clear legal basis or contractual foundation, and to automatically trigger and record the corresponding notification process. The processing purpose of related data is bound to its specific use at the metadata layer, and is strictly limited through the system's embedded flow strategy and access control model, thereby ensuring that data is accessed and used only within the scope necessary to achieve the initial collection purpose and as determined by technical criteria. The system has a multi-layered authorization management and compliance audit mechanism to ensure that related data will not be used for any other purpose without separate legal permission or valid separate consent from the information subject. This solution natively supports and protects the information subject's various legal rights to their data in its technical implementation, and provides standardized interfaces and automated processes to achieve efficient exercise of these rights.

[0017] The following description, with reference to the accompanying drawings, describes a method and apparatus for controlling the actuator's control valve, an electronic device, and a storage medium according to embodiments of the present disclosure.

[0018] Figure 1 This is a schematic flowchart illustrating a method for controlling the joint control valve of an actuator, as provided in an embodiment of this disclosure.

[0019] like Figure 1 As shown, the method includes the following steps: Step 101: Initialize system configuration and set operating threshold parameters, synchronously collect current position data of the controlled valve and pressure data of the hydraulic system, and output current position data, pressure data and operating threshold parameters.

[0020] In the embodiments of this disclosure, system initialization configuration is first performed to complete the calibration and initialization of the system's basic operating parameters. The control processing unit sets operating threshold parameters according to the system's regulation requirements, forming the benchmark for subsequent data judgment and regulation. The control processing unit sends a synchronous acquisition command to the data acquisition unit, which synchronously acquires the current position data of the controlled valve and the pressure data of the hydraulic system according to the command. The acquisition process of the two types of data is synchronized in time to ensure the consistency of data acquisition. The data acquisition unit transmits the acquired current position data and pressure data to the control processing unit. The control processing unit integrates the acquired data with the set operating threshold parameters and outputs the current position data, pressure data, and operating threshold parameters in a preset format through the data output unit. For example, the initialization configuration may include the configuration of system communication parameters and data acquisition frequency. The operating threshold parameters may include valve position thresholds and upper and lower limit thresholds of hydraulic system pressure. Data acquisition can be achieved through sensing components, and the output data is in a standardized format.

[0021] Through the initialization configuration, threshold setting, and synchronous data acquisition in step 101, standardized benchmark parameters and real-time acquired data are provided for the subsequent control process of the system, ensuring the standardization and timing consistency of data input, and providing stable data support for subsequent deviation calculation and instruction generation.

[0022] Step 102: Receive current position data, pressure data and operating threshold parameters, select the valve operation control mode, perform deviation calculation based on the current position data and preset benchmark value, and generate valve adjustment command in combination with operating threshold parameters.

[0023] In the embodiments of this disclosure, the current position data of the controlled valve, the hydraulic system pressure data, and the operating threshold parameters output in step 101 are received. The data is parsed, verified, and cached to ensure the validity of the input data. The mode selection unit selects the valve operation control mode based on an external trigger signal. The control processing unit locks the selected mode and blocks control signals from non-selected modes to avoid mode conflicts. The data calculation unit retrieves the current position data of the controlled valve and a preset reference value, performs deviation calculations to obtain the position deviation result. The instruction generation unit combines the deviation calculation result with the operating threshold parameters and generates valve adjustment instructions adapted to the system operating state according to preset control logic. For example, the operation control mode may include automatic control, manual control, and remote linkage control modes; the deviation calculation may use difference calculation or deviation rate calculation; and the valve adjustment instruction may carry control parameters such as adjustment direction, adjustment amplitude, and adjustment rate.

[0024] By receiving data, selecting modes, calculating deviations, and generating instructions in step 102, a control logic adapted to multiple scenarios is constructed. Combined with threshold parameters, precise adjustment instructions are generated, providing a reliable instruction basis for the subsequent valve to perform adjustment actions.

[0025] Step 103: In response to the mode selection signal, unlock the operation permission corresponding to the operation control mode, drive the electro-hydraulic actuator to perform valve position adjustment action according to the valve adjustment command, and output valve adjustment execution status data.

[0026] In the embodiments of this disclosure, the control processing unit receives a mode selection signal. The permission management unit responds to this signal by unlocking the operation permission corresponding to the currently selected operation control mode, while simultaneously locking the operation permissions for other modes, forming a hierarchical permission control mechanism to avoid conflicts between multiple mode commands. The control processing unit verifies the completeness and validity of the valve adjustment command. After successful verification, it issues an execution command to the electro-hydraulic drive unit. The electro-hydraulic drive unit outputs a matching drive signal based on the valve adjustment command, driving the electro-hydraulic actuator to complete the position adjustment action of the controlled valve. The status feedback unit collects execution information during the valve adjustment process in real time, processes it, and generates valve adjustment execution status data, which is output by the control processing unit. For example, the mode selection signal can be a digital trigger signal, the electro-hydraulic actuator drives the valve core through hydraulic power to achieve displacement adjustment, and the valve adjustment execution status data can include the adjustment position status, adjustment fault status, and real-time adjustment progress data.

[0027] By implementing hierarchical unlocking of permissions, command-driven execution, and real-time feedback of execution status in step 103, the operational security and precise execution of adjustment actions under multi-mode control are ensured. At the same time, real-time and reliable execution status data are provided for subsequent system operation status determination.

[0028] Step 104: Receive valve regulation execution status data and collect full system operation status data in real time. Integrate and analyze the valve regulation execution status data and the full system operation status data to determine the system operation status. Generate and execute control commands for the identified abnormal operation status and output system operation status record data.

[0029] In the embodiments of this disclosure, the control processing unit receives the valve regulation execution status data output in step 103 and completes data parsing, verification, and temporary caching. The full data acquisition unit collects full system operation status data covering the valve and electro-hydraulic actuator in real time according to a preset acquisition cycle, ensuring the continuity and comprehensiveness of the operation data acquisition. The fusion analysis unit performs dimensional matching and fusion calculations between the valve regulation execution status data and the full system operation status data, and completes a comprehensive judgment of the system operation status based on preset judgment logic, distinguishing between normal operation status and abnormal operation status. The abnormal control unit matches and classifies the identified abnormal operation status, generates control commands corresponding to the abnormal type, and sends them to the electro-hydraulic actuator to complete the execution action. The data storage and output unit collects data from the entire system operation process, generates system operation status record data, and outputs it externally by the control processing unit. For example, the full system operating status data can include dynamic changes in valve position, hydraulic system flow and oil pressure data, and actuator operating parameters. Abnormal operating statuses can include valve position deviation, abnormal hydraulic pressure, and actuator jamming. Control commands can include valve position correction, pressure regulation, mechanism reset, and emergency stop commands. System operating status record data can be stored in a timestamp sequence.

[0030] Through the full data collection, fusion analysis and judgment, intelligent anomaly control and operation data recording in step 104, the system operation status can be monitored in its entirety and handled in a closed loop, improving the security and stability of the system operation. At the same time, traceable operation data is generated to provide data support for subsequent system operation and maintenance and fault tracing.

[0031] The actuator control method disclosed herein first completes initial configuration and threshold setting, synchronously collects and outputs valve position and hydraulic pressure data, then generates adjustment commands through mode selection, deviation calculation, and threshold combination, drives the electro-hydraulic actuator to perform valve position adjustment according to mode unlocking permissions and outputs the execution status, and finally integrates and analyzes the execution status and full operation data to determine the system status, generates and executes control commands for anomalies and outputs operation record data. Therefore, it can solve the problems of lack of multi-mode hierarchical permission control, insufficient dimensions of operation status monitoring, single anomaly judgment method, poor valve position adjustment accuracy and system operation stability in the prior art, and achieves the technical effects of real-time and accurate control of key valve parameters, improved control response speed and operation stability, intelligent diagnosis and fault early warning, reduced equipment energy consumption and wear, and extended service life.

[0032] In the embodiments involved in this application, there are various feasible specific implementation methods. To clearly and completely illustrate the technical solutions of this disclosure, the implementation methods listed below are merely exemplary and do not constitute a limitation on the scope of protection of this disclosure. That is, in addition to the implementation methods described below, other implementation methods that can be obtained by those skilled in the art based on the technical content disclosed in this disclosure through reasonable logical analysis, reasoning, or limited experimentation should also be covered within the scope of protection of this disclosure. The following specifically describes some exemplary implementation methods: As a specific implementation of this disclosure, based on the basic scheme, the system configuration is initialized and operating threshold parameters are set. The current position data of the controlled valve and the pressure data of the hydraulic system are collected synchronously, and the current position data, pressure data and operating threshold parameters are output. It is further defined as follows: the system communication parameters are calibrated and the data acquisition frequency parameters are configured. The valve position threshold of the joint control valve and the upper and lower limit thresholds of the hydraulic system pressure are set as operating threshold parameters. The valve position angle displacement of the joint control valve is detected in real time by the valve position sensor and converted into a standard current signal. At the same time, the pressure data in the accumulator and the pressure data of the two chambers of the hydraulic cylinder are collected synchronously by the pressure sensor. The collected standard current signal is converted from analog to digital to generate digital valve position data. The pressure data is calibrated, temperature drift compensated and filtered to remove interference data. Finally, the standardized formatted digital data is integrated to generate the output current position data and pressure data.

[0033] Specifically, the system initialization configuration and data acquisition process is further refined into a complete workflow of communication parameter calibration, acquisition frequency configuration, threshold setting, dual-sensor synchronous acquisition, and data standardization processing. The system first completes the calibration of communication parameters and the configuration of data acquisition frequency, determining the valve position threshold of the joint control valve and the upper and lower pressure limits of the hydraulic system as operating threshold parameters; then, it synchronously acquires the corresponding physical quantity signals through the valve position sensing component and the pressure sensing component, respectively completing analog quantity conversion, data calibration, and interference removal, and finally integrating them to generate standardized formatted digital data output.

[0034] In some specific embodiments, during system initialization, the communication parameters such as serial port baud rate, industrial Ethernet communication protocol, and data interaction address are calibrated, and matching data acquisition frequency parameters are configured according to actual working conditions. The operating threshold parameters are specifically set as the upper and lower limit thresholds for the joint control valve position, and the upper and lower limit thresholds for the hydraulic system pressure. The valve position sensor detects the valve position angle displacement of the joint control valve in real time and converts it into a 4-20mA standard current signal. The pressure sensor synchronously acquires the internal pressure data of the accumulator and the pressure data of the rodless and rod chambers of the hydraulic cylinder. The standard current signal of the valve position is converted into digital valve position data corresponding one-to-one with the valve position angle using a high-precision analog-to-digital converter chip. The pressure data undergoes range calibration and temperature drift compensation processing, and a filtering algorithm is used to remove invalid interference data caused by electromagnetic interference and mechanical vibration. The processed valve position data and pressure data are integrated into standardized digital data in a unified format, which is then output as the current position data and pressure data.

[0035] In other equivalent implementations, linear filtering algorithms can also be used to replace the specified filtering algorithm to complete the interference data removal process.

[0036] By calibrating communication parameters, synchronously acquiring data from dual sensors, and performing multi-dimensional data calibration and filtering, the timing consistency and accuracy of the acquired data are ensured, effectively eliminating data errors caused by environmental and hardware interference, and providing highly reliable basic data for subsequent calculations and control.

[0037] As a specific implementation of this disclosure, based on the basic scheme, the acquired standard current signal is converted from analog to digital to generate digital valve position data, and the pressure data is calibrated, temperature drift compensated, and filtered to remove interference data. It is further specified as follows: the standard current signal is converted into digital data corresponding one-to-one with the valve position angle using an analog-to-digital converter chip, a pressure data range calibration model is established and a temperature drift compensation coefficient is calculated to correct system errors; the corrected pressure data is input into the Kalman filter algorithm model, and the state estimate is iteratively calculated through prediction and update steps to remove invalid interference data caused by electromagnetic interference and mechanical vibration, and a clean pressure data stream after full-process standardization and formatting is output.

[0038] Specifically, in one optional implementation, the valve position current signal conversion, pressure data calibration compensation, and filtering are further refined. By combining chip conversion, model correction, and iterative filtering, the standardized purification process of the collected data is completed.

[0039] In some specific embodiments, a high-precision analog-to-digital converter chip is used to convert the standard valve position current signal into a digital signal. Based on the linear correspondence between the valve position angle and the current signal, digital valve position data corresponding one-to-one with the valve position angle is generated. A range calibration model is established for the pressure data, and range calibration is completed based on the range boundary of the pressure sensor. The temperature drift compensation coefficient is calculated in combination with real-time temperature parameters, and the original pressure data is corrected for system errors using this coefficient. The corrected pressure data is input into the Kalman filter algorithm model. First, a prediction step is executed to complete the prior estimation of the system state and error covariance. Then, an update step is executed to complete the correction of the state estimate and the update of the error covariance. The optimal state estimate is obtained through iterative calculation, and invalid interference data caused by electromagnetic interference and mechanical vibration are accurately eliminated. Finally, a clean pressure data stream that has undergone full-process standardization and formatting is output.

[0040] In other equivalent implementations, extended Kalman filtering or unscented Kalman filtering can also be used to replace the basic Kalman filtering algorithm to remove interference.

[0041] By accurately mapping the analog-to-digital conversion, correcting errors through range calibration and temperature drift compensation, and combining iterative noise reduction with Kalman filtering, data deviations caused by hardware and environmental interference are effectively eliminated, significantly improving the accuracy and stability of basic data acquisition.

[0042] As a specific implementation of this disclosure, based on the basic scheme, it receives current position data, pressure data, and operating threshold parameters, selects the valve's operation control mode, performs deviation calculation based on the current position data and a preset reference value, and generates valve adjustment commands in conjunction with the operating threshold parameters. Further, it is defined as follows: receiving a digital mode selection trigger signal input from the local control cabinet's operation switch knob; after verification, locking one of the following as the operation control mode: automatic control mode, manual control mode, or remote linkage control mode; calculating the absolute difference between the current position data and the preset valve position reference value, and calculating the deviation rate based on the absolute difference and the preset valve position reference value to generate a structured deviation calculation result; retrieving the hydraulic system pressure threshold parameters and combining them with real-time pressure acquisition data to determine the adaptability of the structured deviation calculation result; dynamically adjusting the adjustment amplitude and adjustment rate reference; and generating an electro-hydraulic control command carrying a clear adjustment direction, quantitative adjustment amplitude, and graded adjustment rate as the valve adjustment command.

[0043] Specifically, the process of selecting the operation control mode, calculating the deviation, and generating valve adjustment commands is further refined into a complete process of mode signal verification and locking, two-dimensional deviation calculation, pressure adaptation determination, and command parameter encapsulation.

[0044] In some specific embodiments, the system receives a digital mode selection trigger signal input from the local control cabinet's operation switch knob. The system verifies the signal's validity and integrity. Upon successful verification, it locks a single operating control mode from among automatic, manual, and remote linkage control modes, simultaneously blocking control signals from other modes to prevent mode conflicts. The data processing unit first calculates the absolute difference between the current position data and the preset valve position reference value. Then, based on this absolute difference and the preset valve position reference value, it performs a percentage calculation to obtain the deviation rate. The absolute difference and the deviation rate are integrated to form a structured deviation calculation result. The system retrieves the upper and lower limit threshold parameters of the hydraulic system pressure and compares the real-time pressure data with these threshold parameters to complete the compatibility determination. When the real-time pressure approaches the threshold boundary, the system dynamically lowers the adjustment amplitude and adjustment rate reference; when the pressure is within the normal range, the reference parameters remain unchanged. The instruction generation unit generates an electro-hydraulic control instruction carrying a clear adjustment direction, quantitative adjustment amplitude, and graded adjustment rate based on the deviation calculation result and the compatibility determination result. This instruction serves as the final output valve adjustment instruction.

[0045] In other equivalent implementations, the mode selection trigger signal can also be replaced by an industrial bus remote digital command instead of a local knob input signal.

[0046] By using digital mode signal verification and locking, dual-dimensional deviation calculation, and pressure-adaptive dynamic parameter adjustment, the control mode is ensured to be stable and conflict-free, the accuracy of deviation calculation is improved, and the adjustment command is matched with the real-time status of the hydraulic system, avoiding system anomalies caused by over-threshold adjustment.

[0047] As a specific implementation of this disclosure, based on the basic scheme, the absolute difference between the current position data and the preset valve position reference value is calculated, and the deviation rate is calculated based on the absolute difference and the preset valve position reference value to generate a structured deviation calculation result. It is further limited to: extracting the real-time valve position value in the current position data and performing a subtraction operation with the stored preset valve position reference value to obtain the absolute difference of the valve position; dividing the absolute difference of the valve position by the preset valve position reference value and multiplying by 100% to obtain the valve position deviation rate; combining the joint adjustment valve position threshold in the operating threshold parameters to perform boundary filtering on the absolute difference of the valve position and the valve position deviation rate, eliminating invalid calculation values ​​that exceed the threshold range, and encapsulating the remaining absolute difference of the valve position and the valve position deviation rate into a structured deviation calculation result with a timestamp and caching it in real time.

[0048] Specifically, the deviation calculation process is further refined into a complete processing logic of dual-index calculation, threshold boundary filtering, and timestamped structured encapsulation. In some specific embodiments, the system extracts the real-time valve position value from the current position data and performs a subtraction operation with the pre-stored preset valve position reference value to obtain the absolute valve position difference. The calculation relationship is: Absolute valve position difference = |Real-time valve position value| The system calculates the valve position deviation rate by dividing the absolute difference of the valve position by the preset valve position reference value and multiplying by 100%. The calculation relationship is: Valve position deviation rate (%) = (Absolute difference of valve position ÷ Preset valve position reference value) × 100%. The system retrieves the valve position threshold of the joint adjustment valve from the operating threshold parameters, performs boundary filtering on the absolute difference of the valve position and the valve position deviation rate, and determines whether the values ​​are within the valve position threshold range. Calculated values ​​outside the threshold range are directly determined as invalid and discarded, and only valid calculated values ​​within the range are retained. The system combines and encapsulates the remaining valid absolute difference of the valve position, the valve position deviation rate and the current calculation timestamp to form a standardized structured deviation calculation result, and stores the result in the real-time cache area for direct use in subsequent instruction generation stages.

[0049] In other equivalent implementations, a floating-point percentage format can be used instead of a percentage integer format to store the valve position deviation rate.

[0050] Valve position deviation is accurately quantified by calculating both absolute difference and deviation rate. Abnormal data is eliminated by filtering out valve position threshold boundaries. The structured encapsulation with timestamps makes the deviation data traceable and directly reusable, improving the accuracy and efficiency of subsequent instruction generation.

[0051] As a specific implementation of this disclosure, based on the basic scheme, in response to the mode selection signal unlocking and operation permission corresponding to the operation control mode, the electro-hydraulic actuator is driven to perform valve position adjustment action according to the valve adjustment command, and output valve adjustment execution status data. It is further defined as follows: the received digital mode selection trigger signal is encrypted, verified and identified; the independent operation permission corresponding to the current operation control mode is unlocked and the other mode permissions are locked based on the hierarchical unlocking mechanism; the output frequency of the variable frequency drive system is adaptively adjusted according to the adjustment rate parameter in the valve adjustment command to drive the bidirectional gear pump to operate; the torque is transmitted to the hydraulic circuit through the flexible coupling to establish the hydraulic working pressure matching the adjustment amplitude; the cartridge valve is controlled to adjust the flow and pressure of the hydraulic circuit; the solenoid valve is used to complete the oil circuit opening and closing and reversing according to the adjustment direction; the hydraulic cylinder is driven to drive the valve core of the joint adjustment valve to perform displacement adjustment; the valve core displacement data is collected in real time to generate adjustment real-time progress data; and when the displacement reaches the preset valve position reference value, an adjustment in place state is generated or an adjustment fault state is generated when jamming is detected, and the data are integrated to form valve adjustment execution status data.

[0052] Specifically, the authorization unlocking, electro-hydraulic actuation drive and execution status output links are further refined into a complete execution process of signal verification, hierarchical authorization control, variable frequency hydraulic drive, oil circuit regulation, valve core displacement execution and status integration.

[0053] In some specific embodiments, the system performs encryption verification and identity recognition on the received digital mode selection trigger signal, verifying the signal's legality and the operator's authority. Based on a hierarchical unlocking mechanism, it unlocks the independent operating authority corresponding to the current operation control mode, while simultaneously encrypting and locking the permissions of other modes to avoid conflicts between multiple modes. The system adaptively adjusts the output frequency of the variable frequency drive system according to the adjustment rate parameter in the valve adjustment command, driving the bidirectional gear pump to operate. Through a flexible coupling, the torque is smoothly transmitted to the hydraulic circuit, establishing a hydraulic working pressure matching the adjustment amplitude. The system controls the cartridge valve to adjust the flow and pressure of the hydraulic circuit. The solenoid valve completes the oil circuit opening and closing and reversing according to the adjustment direction, driving the hydraulic cylinder to drive the valve core of the joint adjustment valve to perform displacement adjustment. Real-time acquisition of valve core displacement data generates real-time adjustment progress data. When the displacement reaches the target, an adjustment status is generated; when valve core jamming is detected, an adjustment fault status is generated. The above data is integrated to form valve adjustment execution status data.

[0054] In other equivalent implementations, a servo frequency converter drive system can be used to replace the conventional frequency converter drive system to achieve adaptive speed adjustment.

[0055] Encryption verification and hierarchical access control ensure operational security, variable frequency adaptive drive and precise oil circuit regulation enable smooth valve position adjustment, and real-time status acquisition and judgment can provide immediate feedback on the execution results, improving the controllability and reliability of the adjustment process.

[0056] As a specific implementation of this disclosure, based on the basic scheme, it receives valve regulation execution status data and collects real-time system full-scale operation status data. It then integrates and analyzes the valve regulation execution status data and the system full-scale operation status data to determine the system operation status. For identified abnormal operation states, it generates and executes control commands and outputs system operation status record data. Further, it parses the received valve regulation execution status data to extract the regulation in place status, regulation fault status, and real-time regulation progress data. Simultaneously, it synchronously collects dynamic change data of the joint control valve position, hydraulic flow data, oil pressure dynamic data, and actuator motor operating parameters at a set acquisition frequency as system data. The system collects all operational status data; it uses a threshold comparison method to compare real-time operational data with operational threshold parameters one by one, and uses a trend analysis method to perform curve fitting and slope calculation on continuously collected operational data to predict operational risks. It comprehensively determines whether the system is in an abnormal operating state, such as valve position deviation, abnormal hydraulic pressure, actuator jamming, or motor overload. If an abnormal operating state is determined, it generates emergency stop command, valve position correction command, pressure adjustment command, or mechanism reset command as control commands based on the abnormality type and sends them to the electro-hydraulic actuator for execution. At the same time, it serializes and stores the entire process operation data with millisecond-level timestamps to generate system operation status record data.

[0057] Specifically, the execution status analysis, full data acquisition, operation status determination, anomaly control, and data recording stages are further refined into a closed-loop processing flow of data extraction, multi-dimensional synchronous acquisition, dual-method fusion judgment, classification instruction issuance, and millisecond-level serialized storage. In some specific embodiments, the system analyzes the received valve regulation execution status data, extracts the regulation in place status, regulation fault status, and regulation real-time progress data, and simultaneously collects dynamic change data of the joint control valve position, hydraulic flow data, oil pressure dynamic data, and actuator motor operating parameters at a preset acquisition frequency to form complete system full operation status data. The system uses a threshold comparison method to compare real-time operation data with operation threshold parameters one by one, and uses a trend analysis method to perform curve fitting and slope calculation on continuously acquired operation data to predict parameter change trends and operation risks. Based on this, it comprehensively determines whether the system has abnormal operation states such as valve position deviation, abnormal hydraulic pressure, actuator jamming, and motor overload. If an anomaly is detected, the system accurately generates corresponding control commands based on the anomaly type: an emergency stop command is issued for motor overload, a valve position correction command is issued for valve position out-of-tolerance, a pressure adjustment command is issued for abnormal hydraulic pressure, and a mechanism reset command is issued for mechanism jamming. These commands are then sent to the electro-hydraulic actuator for execution. The system serializes and stores all process data using millisecond-level timestamps, generating system operation status records.

[0058] In other equivalent implementations, sliding window trend analysis can be used instead of global curve fitting to complete the prediction of operational risks.

[0059] By combining threshold comparison and trend analysis, the system improves the accuracy of anomaly identification and risk prediction. It matches specific control instructions according to anomaly type to achieve rapid closed-loop handling, and millisecond-level timestamp storage ensures full traceability of operational data.

[0060] It should be noted that the embodiments of this disclosure may include multiple steps. For ease of description, these steps are numbered, but these numbers are not a limitation on the execution time slots or execution order between the steps; these steps can be implemented in any order, and the embodiments of this disclosure do not limit this.

[0061] Corresponding to the aforementioned method for controlling the actuator's control valve, this disclosure also proposes a control device for the actuator's control valve. Since the device embodiments of this disclosure correspond to the method embodiments described above, details not disclosed in the device embodiments can be referred to the method embodiments described above, and will not be repeated here.

[0062] Figure 2 This is a schematic diagram of the structure of a control device for an actuator provided in an embodiment of this disclosure, as shown below. Figure 2 As shown, it includes: The acquisition unit 21 is used to initialize the system configuration and set the operating threshold parameters, synchronously acquire the current position data of the controlled valve and the pressure data of the hydraulic system, and output the current position data, pressure data and operating threshold parameters. The generation unit 22 is used to receive current position data, pressure data and operating threshold parameters, select the valve operation control mode, perform deviation calculation based on the current position data and preset reference value, and generate valve adjustment commands in combination with operating threshold parameters; Execution unit 23 is used to unlock the operation permission corresponding to the operation control mode in response to the mode selection signal, drive the electro-hydraulic actuator to perform valve position adjustment action according to the valve adjustment command, and output valve adjustment execution status data; Analysis unit 24 is used to receive valve regulation execution status data and collect full system operation status data in real time, integrate and analyze valve regulation execution status data and full system operation status data to determine system operation status, generate and execute control commands for identified abnormal operation status, and output system operation status record data.

[0063] It should be noted that the foregoing explanation of the method embodiments also applies to the apparatus of this embodiment, and the principle is the same, so it is not limited in this embodiment.

[0064] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0065] Figure 3 A schematic block diagram of an example electronic device 300 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0066] like Figure 3As shown, the electronic device 300 includes a computing unit 301, which can perform various appropriate actions and processes based on a computer program stored in ROM (Read-Only Memory) 302 or a computer program loaded from storage unit 308 into RAM (Random Access Memory) 303. The RAM 303 may also store various programs and data required for the operation of the electronic device 300. The computing unit 301, ROM 302, and RAM 303 are interconnected via a bus 304. An I / O (Input / Output) interface 305 is also connected to the bus 304.

[0067] Multiple components in electronic device 300 are connected to I / O interface 305, including: input unit 306, such as keyboard, mouse, etc.; output unit 307, such as various types of displays, speakers, etc.; storage unit 308, such as disk, optical disk, etc.; and communication unit 309, such as network card, modem, wireless transceiver, etc. Communication unit 309 allows electronic device 300 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0068] The computing unit 301 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 301 include, but are not limited to, CPUs (Central Processing Units), GPUs (Graphics Processing Units), various special-purpose AI (Artificial Intelligence) computing chips, various computing units running machine learning model algorithms, DSPs (Digital Signal Processors), and any suitable processor, controller, microcontroller, etc. The computing unit 301 performs the various methods and processes described above, such as the actuator control method for a coordinated valve. For example, in some embodiments, the actuator control method for a coordinated valve can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 308. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 300 via ROM 302 and / or communication unit 309. When the computer program is loaded into RAM 303 and executed by the computing unit 301, one or more steps of the methods described above can be performed. Alternatively, in other embodiments, the computing unit 301 may be configured by any other suitable means (e.g., by means of firmware) to perform the aforementioned actuator's joint valve control method.

[0069] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, FPGAs (Field Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), ASSPs (Application-Specific Standard Products), SOCs (System-on-Chips), CPLDs (Complex Programmable Logic Devices), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0070] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0071] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, RAM, ROM, EPROM (Electrically Programmable Read-Only Memory) or flash memory, optical fiber, CD-ROM (Compact Disc Read-Only Memory), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0072] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0073] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include LANs (Local Area Networks), WANs (Wide Area Networks), the Internet, and blockchain networks.

[0074] Computer systems can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. A server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service system that addresses the shortcomings of traditional physical hosts and VPS (Virtual Private Server) services, such as high management difficulty and weak business scalability. Servers can also be servers for distributed systems or servers incorporating blockchain technology.

[0075] It's important to note that artificial intelligence (AI) is the study of enabling computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). It encompasses both hardware and software technologies. AI hardware technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, and big data processing. AI software technologies primarily include computer vision, speech recognition, natural language processing, machine learning / deep learning, big data processing, and knowledge graph technologies.

[0076] The various numerical designations such as "first," "second," etc., used in this disclosure are merely for ease of description and are not intended to limit the scope of the embodiments of this disclosure, nor do they indicate a sequential order.

[0077] At least one of the features described in this disclosure can also be described as one or more, and multiple features can be two, three, four or more, and this disclosure does not impose any limitations. In the embodiments of this disclosure, for a technical feature, the technical features in that technical feature are distinguished by "first", "second", "third", "A", "B", "C" and "D", etc., and there is no sequential order or size order among the technical features described by "first", "second", "third", "A", "B", "C" and "D".

[0078] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0079] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for controlling a regulating valve of an actuator, characterized in that, include: Initialize system configuration and set operating threshold parameters, synchronously collect current position data of the controlled valve and pressure data of the hydraulic system, and output the current position data, the pressure data and the operating threshold parameters; Receive the current position data, the pressure data, and the operating threshold parameter; select the valve's operation control mode; perform deviation calculation based on the current position data and a preset benchmark value; and generate a valve adjustment command in conjunction with the operating threshold parameter. In response to the mode selection signal, the operation permission corresponding to the operation control mode is unlocked, and the electro-hydraulic actuator is driven to perform valve position adjustment action according to the valve adjustment command, and valve adjustment execution status data is output. The system receives the valve regulation execution status data and collects the full system operation status data in real time. It integrates and analyzes the valve regulation execution status data and the full system operation status data to determine the system operation status. For the identified abnormal operation status, it generates and executes control commands and outputs system operation status record data.

2. The method according to claim 1, characterized in that, The initialization system configures and sets operating threshold parameters, synchronously collects the current position data of the controlled valve and the pressure data of the hydraulic system, and outputs the current position data, the pressure data, and the operating threshold parameters, including: The system communication parameters are calibrated and the data acquisition frequency parameters are configured. The valve position threshold of the joint adjustment valve and the upper and lower limit thresholds of the hydraulic system pressure are set as the operating threshold parameters. The valve position angle displacement of the joint control valve is detected in real time by the valve position sensor and converted into a standard current signal. At the same time, the pressure data in the accumulator and the pressure data in the two chambers of the hydraulic cylinder are collected synchronously by the pressure sensor. The acquired standard current signal is converted from analog to digital to generate digital valve position data. The pressure data is then calibrated, temperature drift compensated, and filtered to remove interference data. Finally, the data is integrated to generate standardized and formatted digital data as the output current position data and pressure data.

3. The method according to claim 2, characterized in that, The process of performing analog-to-digital conversion on the acquired standard current signal to generate digital valve position data, and performing range calibration, temperature drift compensation, and filtering on the pressure data to remove interference data, includes: The standard current signal is converted into digital data that corresponds one-to-one with the valve position angle using an analog-to-digital converter chip. A pressure data range calibration model is established and a temperature drift compensation coefficient is calculated to correct system errors. The corrected pressure data is input into the Kalman filter algorithm model. The state estimate is calculated iteratively through prediction and update steps to remove invalid interference data caused by electromagnetic interference and mechanical vibration. The output is a clean pressure data stream that has undergone full-process standardization and formatting.

4. The method according to claim 1, characterized in that, The process of receiving the current position data, the pressure data, and the operating threshold parameter, selecting the valve's operation control mode, performing deviation calculation based on the current position data and a preset benchmark value, and generating a valve adjustment command in conjunction with the operating threshold parameter includes: The system receives a digital mode selection trigger signal input from the local control cabinet operation conversion knob. After verification, it locks one of the following modes as the operation control mode: automatic control mode, manual control mode, or remote linkage control mode. Calculate the absolute difference between the current position data and the preset valve position reference value, and calculate the deviation rate based on the absolute difference and the preset valve position reference value to generate a structured deviation calculation result; The hydraulic system pressure threshold parameters are retrieved and combined with real-time pressure acquisition data to determine the adaptability of the structured deviation calculation results. The adjustment amplitude and adjustment rate benchmark are dynamically adjusted to generate an electro-hydraulic control command carrying a clear adjustment direction, quantitative adjustment amplitude, and graded adjustment rate as the valve adjustment command.

5. The method according to claim 4, characterized in that, The step of calculating the absolute difference between the current position data and the preset valve position reference value, and calculating the deviation rate based on the absolute difference and the preset valve position reference value to generate a structured deviation calculation result, includes: Extract the real-time valve position value from the current position data and perform a subtraction operation with the stored preset valve position reference value to obtain the absolute valve position difference. Divide the absolute valve position difference by the preset valve position reference value and multiply by 100% to obtain the valve position deviation rate. By combining the valve position threshold of the joint adjustment valve in the operation threshold parameters, the absolute difference of the valve position and the valve position deviation rate are subjected to boundary filtering to remove invalid calculation values ​​that exceed the threshold range. The remaining absolute difference of the valve position and the valve position deviation rate are encapsulated into a structured deviation calculation result with a timestamp and cached in real time.

6. The method according to claim 1, characterized in that, The operation permission corresponding to the operation control mode is unlocked in response to the mode selection signal, and the electro-hydraulic actuator is driven to perform valve position adjustment action according to the valve adjustment command, and valve adjustment execution status data is output, including: The received digital mode selection trigger signal is encrypted, verified, and identified. Based on the hierarchical unlocking mechanism, the independent operation permissions corresponding to the current operation control mode are unlocked and the permissions of other modes are locked. The variable frequency drive system output frequency is adaptively adjusted according to the adjustment rate parameter in the valve adjustment command to drive the bidirectional gear pump to operate, and the torque is transmitted to the hydraulic circuit through the flexible coupling to establish a hydraulic working pressure that matches the adjustment amplitude. The system controls the cartridge valve to regulate the flow and pressure of the hydraulic circuit. The solenoid valve is used to open and close the oil circuit and switch directions according to the adjustment direction. The hydraulic cylinder drives the valve core of the joint adjustment valve to perform displacement adjustment. The valve core displacement data is collected in real time to generate real-time adjustment progress data. When the displacement reaches the preset valve position reference value, the system generates an adjustment in place state or an adjustment fault state when jamming is detected. The data are integrated to form the valve adjustment execution status data.

7. The method according to claim 1, characterized in that, The system receives the valve regulation execution status data and collects all system operating status data in real time. It then fuses and analyzes the valve regulation execution status data with the all-system operating status data to determine the system operating status. For identified abnormal operating states, it generates and executes control commands and outputs system operating status record data, including: The received valve regulation execution status data is parsed to extract the regulation in place status, regulation fault status and regulation real-time progress data. At the same time, the dynamic change data of the joint regulation valve position, hydraulic flow data, oil pressure dynamic data and actuator motor operating parameters are synchronously collected at the set collection frequency as the full operating status data of the system. The threshold comparison method is used to compare the real-time operating data with the operating threshold parameters one by one, and the trend analysis method is used to perform curve fitting and slope calculation on the continuously collected operating data to predict the operating risks. The system is comprehensively judged to determine whether it is in an abnormal operating state such as valve position error, abnormal hydraulic pressure, actuator jamming or motor overload. If an abnormal operating state is determined, an emergency stop command, valve position correction command, pressure adjustment command, or mechanism reset command is generated according to the abnormality type as the control command and sent to the electro-hydraulic actuator for execution. At the same time, the entire process operation data is serialized and stored according to millisecond-level timestamps to generate the system operation status record data.

8. A control device for a regulating valve of an actuator, characterized in that, include: The acquisition unit is used to initialize the system configuration and set the operating threshold parameters, synchronously acquire the current position data of the controlled valve and the pressure data of the hydraulic system, and output the current position data, the pressure data and the operating threshold parameters; The generation unit is used to receive the current position data, the pressure data and the operating threshold parameter, select the valve operation control mode, perform deviation calculation based on the current position data and the preset reference value, and generate valve adjustment command in combination with the operating threshold parameter; The execution unit is used to unlock the operation permission corresponding to the operation control mode in response to the mode selection signal, drive the electro-hydraulic actuator to perform valve position adjustment action according to the valve adjustment command, and output valve adjustment execution status data. The analysis unit is used to receive the valve regulation execution status data and collect the full system operation status data in real time, integrate and analyze the valve regulation execution status data and the full system operation status data to determine the system operation status, generate and execute control commands for the identified abnormal operation status, and output system operation status record data.

9. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-7.

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